Name
Abstract | ||
|---|---|---|
Electromagnetic drives are subjected to an inherent inertia-torque tradeoff that fundamentally limits transparency: the higher the torque, the higher the inertia. We describe a dual-stage design that is not subjected to this tradeoff and that is able to approach perfect transparency for human users. It comprises a large, proximal motor and a small, distal motor to reproduce the transients. The two stages are coupled by a viscous clutch based on eddy currents that, without contact, accurately transforms slip velocity into torque. Such a system can, in general, be controlled to achieve a variety of objectives. Here, we show that an advanced, discrete-time, RST polynomial pole-placement controller can achieve near-perfect transparency. Experimental validation evaluated the human ability to detect small haptic details when using this drive and compared it with when using a conventional, single-motor interface. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1177/0278364911430421 | I. J. Robotic Res. |
Keywords | Field | DocType |
Discrete-domain pole placement,electromagnetic drives,haptic interfaces | Clutch,Transparency (graphic),Control theory,Coupling,Torque,Simulation,Control theory,Control engineering,Eddy current,Inertia,Haptic technology,Mathematics | Journal |
Volume | Issue | ISSN |
31 | 3 | 0278-3649 |
Citations | PageRank | References |
3 | 0.55 | 19 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Abdenbi Mohand-Ousaid | 1 | 6 | 3.65 |
| Guillaume Millet | 2 | 31 | 3.63 |
| Regnier, S. | 3 | 156 | 25.28 |
| D. Sinan Haliyo | 4 | 29 | 3.76 |
| Vincent Hayward | 5 | 1343 | 172.28 |